悬停状态下八旋翼飞行器使用全谐波正交多正弦输入的系统辨识
System Identification of an Octocopter in Hover using Full-Harmonic Orthogonal Multisine Inputs
- NASA’s Langley Research Center（美国国家航空航天局兰利研究中心）
机构由 AI 辅助整理，请以论文原文为准。
AI总结：
本文提出一种向飞行控制系统注入全谐波正交多正弦信号的多输入机动设计方法，通过输入分配增强特定自由度激励，并在八旋翼飞行器上验证，成功辨识出电力、电机和刚体动力学模型，证明近悬停动力学可忽略多种次要效应而准确建模。
AI中文摘要：
本文提出了一种用于系统辨识的多输入飞行机动设计新方法。该方法将“全谐波”正交多正弦信号注入飞行控制系统。通过重复执行改变多正弦极性的机动来实现正交性。多正弦信号可以包含相同的频率内容，这可以简化频率响应估计，并允许将长时间的飞行机动分割为多个较短的机动，同时保持相同的频率分辨率和最低频率。本文提出了一种输入分配方案，该方案增强多正弦信号以调整飞行器在特定自由度上的响应幅度。所开发的方法通过一架小型八旋翼飞行器在近悬停条件下的飞行测试得到了验证。输入分配方案被成功用于增强偏航轴上的激励。识别了电力功率、电机转速和刚体动力学模型，并证明这些模型能够准确预测飞行器和电机的响应。这些模型主要参数化为旋翼推力和扭矩系数，使其适用于分析飞行器飞行动力学和单个旋翼空气动力学。结果表明，通过忽略旋翼毂力矩、旋翼系数的变化、滚转和俯仰中的陀螺力矩以及空气动力学相互作用效应，可以准确建模近悬停飞行动力学。
英文摘要：
A new method for multi-input flight maneuver design for system identification is presented. The method consists of injecting "full-harmonic" orthogonal multisine signals into the flight control system. Orthogonality is achieved by repeating maneuvers with changing multisine polarities. The multisines can contain the same frequency content, which can simplify frequency response estimation and allow for long flight maneuvers to be split into several shorter maneuvers while maintaining the same frequency resolution and minimum frequency. An input allocation scheme is presented that augments the multisines to size the vehicle response amplitude about a specific degree of freedom. The developed approach was demonstrated through flight testing of a small octocopter in near-hover conditions. The input allocation scheme was utilized successfully to increase excitation about the yaw axis. Electrical power, motor speed, and rigid-body dynamic models were identified and are shown to predict the vehicle and motor responses accurately. The models are parameterized primarily by rotor thrust and torque coefficients, making them suitable for analysis of aircraft flight dynamics and individual rotor aerodynamics. The results demonstrate that the near-hover flight dynamics can be modeled accurately by neglecting rotor hub moments, variations in rotor coefficients, gyroscopic moments in roll and pitch, and aerodynamic interaction effects.
